version: 66.04
glider: 103
mission: 11
dive: 357
start: 5 10 109 7 52 10
data:
$ID,103
$MISSION,11
$DIVE,357
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-150825.52
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,074530,6231.920,-1107.970,47,1.2,52,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.9
$GPS2,075120,6231.945,-1107.835,17,1.9,17,-10.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,0.121
$KALMAN_X,-117729.9,-108.6,12.2,213215.0,2411.7
$KALMAN_Y,-12365.4,186.0,639.6,-22858.0,-7164.4
$MHEAD_RNG_PITCHd_Wd,71.1,62398,-14.9,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,61,0.00,0.00,-41.30,0.000,2,0.000,0.000,54,2750,3359
$GC,64,-1.42,-146.6,4.5,-13.5,2,87,11.70,2.00,-2.20,0.000,4,0.159,0.097,2126,3778,3501
$GC,339,-1.42,-146.6,47.4,-10.3,14,343,0.00,1.83,0.00,0.000,6,0.000,0.047,2127,2754,3502
$GC,668,-1.42,-146.6,79.4,-10.1,30,672,0.00,1.98,0.00,0.000,4,0.000,0.081,2127,3786,3502
$GC,725,-1.42,-146.6,85.5,-10.1,32,728,0.00,1.88,0.00,0.000,6,0.000,0.049,2126,2738,3501
$GC,1047,-1.42,-146.6,118.7,-10.0,48,1051,0.00,2.55,0.00,0.000,4,0.000,0.066,2127,1337,3501
$GC,1091,-1.42,-146.6,123.5,-9.9,50,1095,0.00,2.67,0.00,0.000,6,0.000,0.071,2126,2760,3502
$GC,1413,-1.42,-146.6,156.0,-11.1,66,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3501
$GC,1721,-1.42,-146.6,189.3,-10.5,81,1726,0.00,2.62,0.00,0.000,4,0.000,0.061,2127,1331,3502
$GC,1771,-1.42,-146.6,195.0,-11.1,83,1776,0.00,2.67,0.00,0.000,6,0.000,0.070,2127,2754,3501
$GC,2087,-1.42,-146.6,228.2,-10.3,98,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2755,3501
$GC,2396,-1.42,-146.6,258.9,-9.7,113,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2755,3501
$GC,2706,-1.42,-146.6,288.4,-9.9,128,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2755,3501
$GC,3015,-1.42,-146.6,320.2,-10.3,143,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2755,3501
$GC,3325,-1.42,-146.6,350.9,-9.6,158,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2755,3501
$GC,3633,-1.42,-146.6,382.7,-10.4,173,3638,0.00,2.60,0.00,0.000,4,0.000,0.061,2126,1330,3501
$GC,3662,-1.42,-146.6,385.8,-11.6,174,3666,0.00,2.65,0.00,0.000,6,0.000,0.066,2127,2755,3501
$GC,3977,-1.42,-146.6,419.4,-10.3,189,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2755,3501
$GC,4288,-1.42,-146.6,450.4,-9.4,204,4292,0.00,2.60,0.00,0.000,4,0.000,0.061,2127,1332,3501
$GC,4338,-1.42,-146.6,455.2,-9.3,206,4342,0.00,2.62,0.00,0.000,6,0.000,0.063,2127,2754,3501
$GC,4654,-1.42,-146.6,482.9,-8.6,221,4658,0.00,2.58,0.00,0.000,4,0.000,0.059,2127,1333,3501
$GC,4687,-1.42,-146.6,485.9,-9.0,222,4693,0.00,2.62,0.00,0.000,6,0.000,0.064,2127,2752,3501
$GC,5003,-1.42,-146.6,514.0,-9.2,238,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2752,3501
$GC,5312,-1.42,-146.6,542.7,-9.3,253,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2752,3501
$GC,5621,-1.42,-146.6,572.5,-9.4,268,5626,0.00,2.58,0.00,0.000,4,0.000,0.058,2127,1338,3501
$GC,5695,-1.42,-146.6,579.7,-10.0,271,5699,0.00,2.62,0.00,0.000,6,0.000,0.064,2127,2753,3502
$GC,6011,-1.42,-146.6,610.1,-9.6,286,6016,0.00,2.60,0.00,0.000,4,0.000,0.061,2127,1333,3501
$GC,6056,-1.42,-146.6,614.6,-9.7,288,6061,0.00,2.62,0.00,0.000,6,0.000,0.063,2127,2754,3501
$GC,6378,-1.42,-146.6,644.2,-9.1,304,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2754,3501
$GC,6686,-1.42,-146.6,671.6,-9.1,319,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2754,3500
$STATE,6828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6828,begin apogee
$GC,6837,-0.42,0.0,684.8,9.3,326,6970,1.10,0.00,125.70,1.134,6,0.097,0.000,2344,1994,2902
$STATE,6971,end apogee,CONTROL_FINISHED_OK
$STATE,6971,begin climb
$GC,6975,1.42,146.6,689.6,0.0,333,7108,1.88,2.70,122.97,1.109,4,0.053,0.055,2749,3414,2304
$GC,7243,1.52,228.1,683.1,5.0,345,7320,0.10,2.55,69.80,1.081,6,0.054,0.039,2780,1980,1972
$GC,7648,1.52,228.1,648.8,9.0,365,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1980,1970
$GC,7957,1.52,228.1,620.5,8.9,380,7961,0.00,2.55,0.00,0.000,4,0.000,0.063,2780,592,1970
$GC,7985,1.52,228.1,617.9,9.7,381,7989,0.00,2.53,0.00,0.000,6,0.000,0.038,2779,2027,1970
$GC,8301,1.52,228.1,590.4,8.9,396,8305,0.00,2.65,0.00,0.000,4,0.000,0.060,2780,588,1969
$GC,8424,1.52,228.1,578.3,9.9,401,8430,0.00,2.50,0.00,0.000,6,0.000,0.039,2780,2005,1969
$GC,8740,1.52,228.1,551.6,8.2,417,8744,0.00,2.60,0.00,0.000,4,0.000,0.059,2779,590,1969
$GC,8880,1.52,228.1,539.9,8.1,423,8884,0.00,2.50,0.00,0.000,6,0.000,0.038,2780,2014,1968
$GC,9196,1.52,228.1,514.9,8.6,438,9200,0.00,2.60,0.00,0.000,4,0.000,0.057,2780,592,1968
$GC,9274,1.52,228.1,507.6,9.3,441,9280,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2004,1968
$GC,9589,1.52,228.1,478.3,9.3,457,9594,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,590,1968
$GC,9646,1.52,228.1,472.8,9.2,459,9652,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2006,1968
$GC,9962,1.52,228.1,445.2,8.7,475,9966,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,592,1968
$GC,10069,1.52,228.1,435.6,9.5,480,10073,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,2010,1968
$GC,10396,1.52,228.1,408.6,8.1,496,10400,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,594,1968
$GC,10475,1.52,228.1,401.6,8.7,499,10481,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,2011,1968
$GC,10792,1.52,228.1,375.1,8.6,515,10796,0.00,2.58,0.00,0.000,4,0.000,0.056,2779,595,1969
$GC,10905,1.52,228.1,364.7,10.0,520,10909,0.00,2.45,0.00,0.000,6,0.000,0.036,2780,1997,1969
$GC,11226,1.52,228.1,336.5,8.6,536,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1997,1969
$GC,11536,1.52,228.1,309.5,8.8,551,11540,0.00,2.55,0.00,0.000,4,0.000,0.057,2779,595,1970
$GC,11631,1.52,228.1,300.6,9.4,555,11635,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2012,1970
$GC,11952,1.52,228.1,272.0,8.9,571,11957,0.00,2.60,0.00,0.000,4,0.000,0.058,2780,586,1970
$GC,12009,1.52,228.1,266.8,9.2,573,12015,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2002,1970
$GC,12325,1.52,228.1,239.8,8.7,589,12328,0.00,2.55,0.00,0.000,4,0.000,0.057,2779,596,1970
$GC,12375,1.52,228.3,235.4,8.0,591,12380,0.00,2.45,0.00,0.000,6,0.000,0.036,2780,2002,1971
$GC,12696,1.52,228.3,209.1,8.3,607,12701,0.00,2.58,0.00,0.000,4,0.000,0.058,2780,588,1971
$GC,12782,1.52,228.3,201.6,9.6,611,12786,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2005,1971
$GC,13109,1.52,228.3,174.9,8.5,627,13113,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,588,1971
$GC,13198,1.52,228.3,166.5,9.3,631,13202,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2003,1972
$GC,13520,1.52,229.5,140.4,8.0,647,13524,0.00,2.58,0.00,0.000,4,0.000,0.058,2780,588,1972
$GC,13576,1.53,238.0,135.9,7.7,649,13591,0.00,2.47,9.60,0.709,6,0.000,0.038,2780,2010,1931
$GC,13914,1.53,238.0,108.2,8.3,666,13918,0.00,2.60,0.00,0.000,4,0.000,0.059,2780,589,1931
$GC,13955,1.55,249.0,104.8,7.6,668,13970,0.00,2.47,10.38,0.700,6,0.000,0.037,2780,2006,1886
$GC,14283,1.55,249.0,75.6,9.4,683,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2006,1886
$GC,14590,1.55,249.0,46.8,9.5,698,14594,0.00,2.60,0.00,0.000,4,0.000,0.061,2780,592,1886
$GC,14653,1.55,249.0,40.9,9.1,701,14657,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2003,1886
$GC,14980,1.55,249.0,11.4,9.3,717,14984,0.00,2.55,0.00,0.000,4,0.000,0.054,2780,596,1886
$GC,15068,1.60,288.9,4.0,6.5,721,15091,0.00,2.45,18.33,0.673,2,0.000,0.033,2780,2008,1799
$STATE,15092,end climb,SURFACE_DEPTH_REACHED
$STATE,15092,begin surface coast
$FINISH,0.6,1.027388
$STATE,15096,end surface coast,CONTROL_FINISHED_OK
$STATE,15096,begin surface
$SM_CCo,15182,0.00,0.000,0,0,1798,270.81
$SM_GC,1.35,12.23,0.00,0.00,0.034,0.000,0.000,54,2747,1798,-10.93,-0.08,270.81
$IRIDIUM_FIX,6207.28,-1104.91,040898,030343
$TT8_MAMPS,0.028379
$HUMID,1783
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,42.3
$24V_AH,23.2,59.240
$10V_AH,10.1,34.107
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.000,138.400,356.775,0.000,0.000,30.288,33.694,154.997,5.750,0.000,0.000,17.571,1355.229,11479.969,445.065,1731.201,516.603,33.347,1322.435,0.000,1684.071,0.000,41.777,0.000
$DEVICE_MAMPS,158.769,96.642,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.103,533.360,443.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34914,722
$CAP_FILE_SIZE,111697,0
$CFSIZE,260165632,235888640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100509,120631,6233.269,-1058.583,42,1.9,42,-10.7